Variable-Performance Servo System Design Without Actuator Current and Angle Measurement for Rover Vehicles
- Authors
- Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- 11월-2020
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Vehicle dynamics; Actuators; Angular velocity; Wheels; Current measurement; Acceleration; Real-time systems; Rover vehicle-tracking control; learning algorithm; adaptation algorithm; active-damping injection technique
- Citation
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, v.69, no.11, pp.12725 - 12733
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
- Volume
- 69
- Number
- 11
- Start Page
- 12725
- End Page
- 12733
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/52011
- DOI
- 10.1109/TVT.2020.3021136
- ISSN
- 0018-9545
- Abstract
- This study devises a variable-performance control law for rover vehicles servoing velocity and pitch angle commands. This considers both vehicle and actuator dynamics as well as load and parameter variations. The main merits are summarized as follows. First, the proposed auto-tuning law magnifies the feedback gain for desired systems to achieve transient performance improvement with the convergence property guarantee. Second, the collaboration of pole-zero cancellation controller and disturbance observers eliminates over/undershoots through closed-loop order reduction by a special form of feedback gain. Beneficial closed-loop properties are also derived from the closed-loop analysis. The prototype rover vehicle built with TETRIX and MyRIO-1900 experimentally validates the closed-loop performance and robustness improvement.
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Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
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